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Add default specular when there is not specular map. Add example for adjusting specular coefficient.

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This commit is contained in:
yunfeibai
2017-05-07 21:09:08 -07:00
parent 67392b85d5
commit e363e12ea4
5 changed files with 47 additions and 4 deletions
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35
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -53,6 +53,9 @@ protected:
int m_canvasRGBIndex;
int m_canvasDepthIndex;
int m_canvasSegMaskIndex;
float m_lightPos[3];
float m_specularCoeff;
void createButton(const char* name, int id, bool isTrigger );
@@ -257,7 +260,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
case CMD_LOAD_SDF:
{
#ifdef BT_DEBUG
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.sdf");
#else
b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kitchens/1.sdf");//two_cubes.sdf");//kitchens/1.sdf");//kuka_iiwa/model.sdf");
#endif
@@ -278,6 +281,8 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
b3RequestCameraImageSetLightDirection(commandHandle, m_lightPos);
b3RequestCameraImageSetLightSpecularCoeff(commandHandle, m_specularCoeff);
b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
break;
}
@@ -522,6 +527,7 @@ m_canvas(0),
m_canvasRGBIndex(-1),
m_canvasDepthIndex(-1),
m_canvasSegMaskIndex(-1),
m_specularCoeff(1.0),
m_numMotors(0),
m_options(options),
m_isOptionalServerConnected(false)
@@ -660,6 +666,29 @@ void PhysicsClientExample::createButtons()
}
}
}
{
SliderParams sliderLightPosX("light source position x",&m_lightPos[0]);
SliderParams sliderLightPosY("light source position y",&m_lightPos[1]);
SliderParams sliderLightPosZ("light source position z",&m_lightPos[2]);
SliderParams sliderSpecularCoeff("specular coefficient",&m_specularCoeff);
sliderLightPosX.m_minVal=-1.5;
sliderLightPosX.m_maxVal=1.5;
sliderLightPosY.m_minVal=-1.5;
sliderLightPosY.m_maxVal=1.5;
sliderLightPosZ.m_minVal=-1.5;
sliderLightPosZ.m_maxVal=1.5;
sliderSpecularCoeff.m_minVal=0;
sliderSpecularCoeff.m_maxVal=5.0;
if (m_guiHelper && m_guiHelper->getParameterInterface())
{
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosX);
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosY);
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosZ);
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderSpecularCoeff);
}
}
}
}
@@ -684,6 +713,10 @@ void PhysicsClientExample::initPhysics()
m_selectedBody = -1;
m_prevSelectedBody = -1;
m_lightPos[0] = 1.0;
m_lightPos[1] = 1.0;
m_lightPos[2] = 1.0;
{
m_canvas = m_guiHelper->get2dCanvasInterface();